Fawkes API  Fawkes Development Version
manipulator.cpp
1 
2 /***************************************************************************
3  * manipulator.cpp - Fawkes to OpenRAVE Manipulator Data
4  *
5  * Created: Thu Sep 16 14:50:34 2010
6  * Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "manipulator.h"
24 
25 #include <vector>
26 
27 namespace fawkes {
28 
29 /** @class OpenRaveManipulator <plugins/openrave/manipulator.h>
30  * Class containing information about all manipulator motors.
31  * @author Bahram Maleki-Fard
32  */
33 
34 /** Constructor
35  * @param count number of motors of OpenRAVE model
36  * @param count_device number of motors of real device
37  */
38 OpenRaveManipulator::OpenRaveManipulator(unsigned int count, unsigned int count_device)
39 : cnt_(count), cnt_device_(count_device)
40 {
41 }
42 
43 /** Destructor. */
45 {
46 }
47 
48 /** Adds a motor to the list(vector) of motors
49  * @param number motor number in OpenRAVE
50  * @param number_device motor number of real device
51  */
52 void
53 OpenRaveManipulator::add_motor(unsigned int number, unsigned int number_device)
54 {
55  motor_t motor;
56  motor.no = number;
57  motor.no_device = number_device;
58  motor.angle = 0.f;
59 
60  motors_.push_back(motor);
61 }
62 
63 } // end of namespace fawkes
OpenRaveManipulator(unsigned int count, unsigned int count_device)
Constructor.
Definition: manipulator.cpp:38
void add_motor(unsigned int number, unsigned int number_device)
Adds a motor to the list(vector) of motors.
Definition: manipulator.cpp:53
std::vector< motor_t > motors_
vector of motors
Definition: manipulator.h:72
virtual ~OpenRaveManipulator()
Destructor.
Definition: manipulator.cpp:44
Fawkes library namespace.
Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of re...
Definition: types.h:64
unsigned int no_device
motor number of real device
Definition: types.h:66
float angle
radian angle
Definition: types.h:67
unsigned int no
motor number in OpenRAVE
Definition: types.h:65